CN107378201B - The real-time planing method of intersection multi-pass welding seam track - Google Patents

The real-time planing method of intersection multi-pass welding seam track Download PDF

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CN107378201B
CN107378201B CN201710550913.4A CN201710550913A CN107378201B CN 107378201 B CN107378201 B CN 107378201B CN 201710550913 A CN201710550913 A CN 201710550913A CN 107378201 B CN107378201 B CN 107378201B
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welding
welding bead
layer
track
bead
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CN201710550913.4A
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CN107378201A (en
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杨睿熙
刘亮
涂煊
高洪明
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上海工业自动化仪表研究院有限公司
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127Means for tracking lines during arc welding or cutting
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/095Monitoring or automatic control of welding parameters

Abstract

The present invention relates to a kind of real-time planing methods of intersection multi-pass welding seam track, the real-time welding parameter of the height for determining every layer of welding bead according to given welding bead the ratio of width to height first, sectional area and every welding bead further according to this layer of welding bead sets the remaining weld width of this layer;Then to each welding bead plan head and the tail overlapping region and be the Zone switched setting welding bead transition algorithm of welding bead, that is, complete adjacent welding bead and smoothly switch, guarantee welding quality;This layer of pass weld finishes, and in the same way, multi-layer welding process is sequentially completed upwards along groove depth direction, until filling and leading up groove and welding the height beyond groove depth one third;The finally coordinate according to corresponding to welding bead central point fits the intersection track of per pass welding bead;Robot simulation's operation, adjusts deviation trace, obtains the planning welding track of multi-pass welding.It realizes that the teaching adjustment to single track track can cook up the actual path of all welding beads, improves robot to the efficiency of big Member Welding.

Description

The real-time planing method of intersection multi-pass welding seam track

Technical field

The present invention relates to a kind of welding method, in particular to a kind of intersection multi-pass welding seam track side of planning in real time Method.

Background technique

The robot automation for the intersection track that Guan Guanxiang is passed through welds, and is applied to boiler, the large scale structures such as pressure vessel It is always the problem of industry on part.

For large-sized structural parts, speed of welding can be accelerated using high current submerged-arc welding, promote welding efficiency, but due to big The weld groove of structural member is larger, even if being still needed to using submerged-arc welding using multi-layer multi-pass welding, can not the primary system plan in place.

During robot carries out multi-pass welding, welding bead parameter adjustment, the weldering of entire groove generally can not be carried out It, can only be with fixed welding parameter planning multi-pass welding track in connecing, it is difficult to which the variable element welding for adapting to large-scale groove lacks The flexibility and versatility of robot automatic welding technology.

When using multi-layer multi-pass welding, the track to per pass welding bead is needed to plan.But per pass weld seam is all used Teaching then will lead to the teaching heavy workload of robot, and complicated for operation, welding efficiency is low, be difficult to play the height of robot welding Effect advantage.

Summary of the invention

The present invention be directed to the larger single layer single track welding beads of the intersection welding seam groove of big component to be difficult to the problem of filling, and propose A kind of real-time planing method of intersection multi-pass welding seam track, can satisfy the requirement of multi-pass welding trajectory planning, Method is simple, and versatility is good, practical, has a good application prospect.

The technical solution of the present invention is as follows: a kind of real-time planing method of intersection multi-pass welding seam track, specifically includes Following steps:

1) height of current layer is determined according to the welding parameter of welding bead the ratio of width to height of setting and welding bead, then by layer it is high and The width of lower edge calculates the total sectional area of this layer of welding bead on this layer of welding bead, further according to this layer of unwelded sectional area and real-time weldering It connects parameter and calculates the layer unwelded road number in real time, the width and height of next welding bead are planned according to remaining number of weld passes, for same One layer of welding bead is in addition to the height of last one of welding bead is different, and the height of remaining welding bead is that the layer of this layer is high, according to remaining Filling region, the width of this layer of last one of welding bead and height are adjusted;

2) after completing the planning welding of welding bead, will the starting point to welding bead carry out being overlapped overlap joint with end point, so After be smoothly transitted into down one of welding bead, that is, complete adjacent welding bead and smoothly switch;

3) when the remaining number of weld passes of this layer is equal to 0, illustrate that this layer of pass weld finishes, it is according to step 1) and 2) same square Formula is sequentially completed multi-layer welding process along groove depth direction upwards, until groove is filled and led up and is welded beyond groove depth three Until/mono- height;

4) coordinate according to corresponding to welding bead central point fits the intersection track of per pass welding bead;

5) by the above-mentioned intersection track for cooking up to obtain welding bead, Robot planned trajectory is allowed to run one week, operation During occur deviation place pause, robotic gun end is adjusted to actual intersection, is write down at this time Adjustment point and adjustment point parameter, and the times N that operation adjusts altogether after a week is recorded, after elected integral point of setting the tone, setting adjustment Transitional region is adjusted on actual intersection using Serial regulation mode.

The step 2) will be overlapped the starting point of welding bead with end point after completing a welding bead planning welding Overlap joint needs to continue to weld one section of overlapping regions, make the starting point of welding bead and end point have it is certain be overlapped, in overlapping regions The switching for carrying out welding bead later increases smooth transition region, into smooth transition to keep the process of welding smooth between welding bead The overlapping regions that soldering angle range before region on former welding bead is ε enters back into the transitional region that angular range is ε ', transition The R of R ' in region, r ' from current welding beadi-1, rij-1Gradually it is transitioned into the R of next welding beadi, rij, the i-th road Cengj welding bead mutually passes through Line parameter rijAnd Ri, RiFor i-th layer of welding bead supervisor's welding radius, rijFor the i-th road Cengj welding bead branch pipe welding radius,

The unspecified angle θ that the starting point of welding is first of first layer0, soldering angle at this time is θ=θ0, at first In welding process, soldering angle θ is from θ0To 2 π, then again from 0 to θ0+ ε switches to second subsequently into transitional region, i.e., and Two starting point is θ0+ ε+ε ', and so on, the starting point in kth road is (k-1) (ε+ε ')+θ0, the switching of the road Jik welding bead Goniometer formula is θ=(k-1) (ε+ε ')+θ0

Pair the step 4) coordinate according to corresponding to welding bead central point fits the intersection track of per pass welding bead, i.e., Two pipes of welding establish main, branch pipe coordinate, if supervisor's outer radius is R, branch pipe outer radius is r, supervisor with a thickness of M, e be supervisor with Branch pipe central axis offset or dish, α are the angles of two tube hub axis, establish main, branch pipe coordinate system xmymzm、xbybzb, two sit The z-axis of system is marked along the central axis of respective pipeline, ym、ybAxis is conllinear, omAnd obThe origin of respectively two coordinate systems, obIn xmymzmCoordinate in coordinate system is (0, e, 0);According to the cylinder equation of two traffic controls, branch pipe coordinate system { o is establishedbBe responsible for relatively Coordinate system { omTransformation matrix { o is obtained by transformation matrixm, { obTwo coordinate systems positional relationship, respectively obtain {om},{obIntersection eguation under coordinate system.

The beneficial effects of the present invention are: the real-time planing method of intersection multi-pass welding seam track of the present invention passes through The filling Strategy and track of multi-pass welding seam are planned in real time, realize that a teaching can cook up all welderings of weld seam Road track.Improve the efficiency that robot welds big component intersection welding seam.

Detailed description of the invention

Fig. 1 is the real-time planing method flow chart of intersection multi-pass welding seam track of the present invention;

Fig. 2 is that welding region is located at welded section schematic diagram in groove to the present invention;

Fig. 3 is that welding region is located at groove external welding schematic cross-section to the present invention;

Fig. 4 is welding bead of the present invention switching and transition schematic diagram;

Fig. 5 is workpiece coordinate system schematic diagram of the present invention;

Fig. 6 is that ideal trajectory of the present invention is adjusted to actual path schematic diagram;

Fig. 7 intersecting line welding robot structure diagram.

Specific embodiment

The real-time planing method flow chart of intersection multi-pass welding seam track as shown in Figure 1, first according to given weldering Road the ratio of width to height determines the height of every layer of welding bead, and the real-time welding parameter of sectional area and every welding bead further according to this layer of welding bead is set The fixed remaining weld width of this layer;Then to each welding bead plan head and the tail overlapping region and be the Zone switched setting welding bead mistake of welding bead Algorithm is crossed, that is, completes adjacent welding bead and smoothly switches, guarantees welding quality;This layer of pass weld finishes, in the same way, edge Groove depth direction is sequentially completed multi-layer welding process upwards, until groove is filled and led up and is welded beyond groove depth one third Height until;The finally coordinate according to corresponding to welding bead central point fits the intersection track of per pass welding bead;Robot mould Quasi- operation, adjusts deviation trace, obtains the planning welding track of multi-pass welding.

The planning of welding bead has real-time, is embodied in when per pass welding bead starts to weld according to the reality of the current welding bead of being welded When welding parameter plan current welding bead track again, while in order to keep welding track smooth, the shake of robot is reduced, for The real-time adjustment of planning and the track welded without track.

Be responsible for during actual welding or branch pipe be not necessarily ideal cylindrical body, intersection track actual so just and There are errors for ideal intersection track.In order to eliminate this error, need to carry out teaching adjustment to ideal intersection track, And the adjustment amount of a teaching is applied in corresponding every one of welding bead.Lower mask body introduces welding bead planing method:

1, the sectional area of current welding bead is calculated according to the welding parameter of i-th layer of first of welding bead:

Again by the welding bead the ratio of width to height C set, the height of i-th layer of layer of multi-pass welding is calculatedWeldering Connecing parameter includes: speed of welding vWeldering, wire feed rate vIt send, gage of wire d, if welding wire deposition efficiency is 1.

2, according to every layer of the high h of layeri, calculate this layer of total welded section product si, the area s that has been welded further according to this layery, Calculate the remaining number of weld passes N of this layerIt is surplus

3, intersection track groove is welded, is divided into welding and groove external welding, the main distinction in groove and is groove When interior welding the width of every layer of last one of welding bead (most outer course) due to groove wall presence and limited, as shown in Figure 2 Welding region is located at welded section schematic diagram in groove.In order to keep the loading of every layer of most outer course welding bead suitable, this can only be adjusted The height h of last one of the welding bead of layeri.In the case of outside groove, due to there is no the presence of outside groove wall, as shown in Figure 3 Welding region is located at groove external welding schematic cross-section, and every layer of last width together is not limited, therefore can be kept Height hiIt is constant, adjust weld width Wj.If welding and assembling height is H, the bottom width of i-th layer of welding bead is Wi-1, being responsible for wall thickness is M。

4, as H < M, i.e., current welding bead is located in groove, and welding region is located at welded section in groove as shown in Figure 2 Schematic diagram, W in figure0It is along width under groove, Wy is i-th layer of width welded, and γ is the angle of groove, then i-th layer of welding bead Top width be wi=wi-1+hiTan γ, i-th layer of welding bead total sectional area are

5, as H > M, i.e., current welding bead is located at outside groove, and welding region is located at groove external welding section as shown in Figure 3 Schematic diagram, δ is the angle of groove external welding slope surface Yu branch pipe outer wall, W in figureMIt is the width on edge on groove, then i-th layer of welding bead top Portion width wi=wi-1-hiTan δ, i-th layer of welding bead total sectional area areWherein

6, the real-time welding parameter of every road Cengj welding bead is substituted into 1 formula and finds out Sw, then can be counted according to layer height Calculate the width of the road the Ceng Zhongj welding bead

7, w is setyIndicate the width that this layer has welded, the area S that this layer has weldedy=hi·Wy

8, by current layer residue welding bead sectional area siWith the filling area s of next welding beadw, calculate the layer unwelded road in real time NumberSymbol<>, which is represented, in formula carries out round to calculated result.

9, work as NIt is surplus=0, if Sy≠ 0, which illustrates that the layer has welded, finishes, by hiIt is added on welding and assembling height H, returns to described in 1 Formula starts the planning of next layer of welding bead;If Sy=0 entire pass weld of explanation finishes, and welding terminates.

10, work as NIt is surplus=1, illustrate that current layer also remains last one of welding bead, the position determination according to groove where welding bead is The height of no adjustment last one of the welding bead of current layer.

If a), H < M, welding bead is located in groove, since the width of last one of welding bead is defined, to last The height in road is finely adjusted, and obtains new heightLast width W togetherj=Wi-Wy

If b), H >=M, welding bead is located at outside groove, since the width for every layer of last one of welding bead being located at outside groove is not It is defined, therefore does not have to carry out high fine-tuning.The Rule of judgment for bypassing 11 at this time, directly executes 11;

11, work as NIt is surplus>=2, by the real-time welding parameter of welding bead switching point substitute into 1 described in formula, find out down one of welding bead Sectional area sw, and formula described in bringing 6 into continues to plan remaining welding bead.

12, the h being calculated according to above-described welding bead filling Strategyi, WjEtc. parameters, the i-th road Cengj can be calculated The intersection parameter r of welding beadijAnd Ri, RiFor i-th layer of welding bead supervisor's welding radius, rijFor the i-th road Cengj welding bead branch pipe welding half Diameter,Ri=R0+H+hiOr (hi'), r is branch pipe outer radius, R0For the inside radius of supervisor, therefore R0= R-M。

13, according to the requirement of welding, the end point of per pass welding bead will have certain overlap joint, and each layer with starting point The overlapping regions of upper every one of welding bead cannot be overlapped with the overlapping regions of adjacent layer and neighboring track welding bead, therefore often be soldered a weldering Behind road, it is also necessary to continue the overlapping regions that soldering angle is ε, welding bead switching as shown in Figure 4 and transition schematic diagram on former welding bead, Usually choosing ε according to welding experience is between 10 °~15 °.

14, according to overlapping regions ε described in 13, band arc-welding road can be carried out after overlap joint and is switched, switches to next The planning of welding bead, this welding bead switching point can just make the overlapping regions of adjacent welding bead be staggered.

15, to keep welding bead switching smooth, after overlapping the region ε, entry angle range is the transitional region of ε ', such as Fig. 4, mistake Cross R ' in region, R of the r ' from current welding beadi-1, rij-1Gradually it is transitioned into the R of next welding beadi, rij

16, the unspecified angle θ that the starting point welded is first of first layer0(start angle of welding), welding at this time Angle is θ=θ0, in first of welding process, soldering angle θ is from θ0To 2 π, then again from 0 to θ0+ ε, subsequently into transition Region switches to second, i.e. the starting point of second is θ0+ ε+ε ', and so on, the arcing point in kth road be (k-1) (ε+ ε′)+θ0, the handoff angle calculating formula of the road Jik welding bead is θ=(k-1) (ε+ε ')+θ0

17, according to above 1~16 step, calculated rij, RiAnd R ', r ', the intersection of welding bead can be cooked up Track, for without loss of generality, this case that the present invention considers the biasing oblique that two pipes mutually pass through, workpiece coordinate system as shown in Figure 5 shows It is intended to.If supervisor's outer radius is R, branch pipe outer radius is r, and supervisor is supervisor and branch pipe central axis offset or dish with a thickness of M, e, α is the angle of two tube hub axis.Establish main, branch pipe coordinate system xmymzm、xbybzb.The z-axis of Two coordinate system is along respective pipeline Central axis.ym、ybAxis is conllinear.omAnd obThe origin of respectively two coordinate systems, obIn xmymzmCoordinate in coordinate system is (0,e,0)。

18, the cylinder equation of two traffic controls:

19, branch pipe cylinder parametric equation:

20, branch pipe coordinate system { obSupervisor coordinate system { o relativelymTransformation matrix:

21, the transformation matrix as described in 20, obtains { om, { obTwo coordinate systems positional relationship:

22, by formula described in 21 bring 18 into described in formula, and formula described in 19 is brought into, is respectively obtained {om},{obIntersection eguation under coordinate system:

Wherein RiFor i-th layer of welding bead supervisor's welding radius, rijFor the i-th road Cengj welding bead branch pipe welding radius.

23, before formal welding, the ideal track of Robot is first allowed to run one week, occurred partially during operation The place pause of difference, teaching adjust robotic gun end to actual intersection, write down adjustment point θ at this timeTiIt is (right Answer soldering angle), horizontal axis adjustment amount △ d2i, longitudinal axis adjustment amount △ d3i, and record the times N that operation adjusts altogether after a week.When After selected adjustment point, for keep the welding of robot smooth slave ideal trajectory excessively on actual path, using Serial regulation Mode, ideal trajectory as shown in Figure 6 are adjusted to actual path schematic diagram, in adjustment point θTiEach θ in two sidesTIt is transition region in range Domain, enabling the starting point of transition is θTQTi- T θ, the terminal of transition are θTZTi+ T θ (i.e. practical adjusting range (θTQTZ))。

24, according to above-mentioned 23 the method, algorithm of teaching is suitable for as shown in Fig. 7 intersecting line welding robot structure diagram Riding robot architecture, so-called riding refers to robot clamping on branch pipe, 2 axis in above-mentioned horizontal axis corresponding diagram 7, indulges 3 axis in axis corresponding diagram 7.Because can influence intersection track is 2 axis and 3 axis amounts of exercise, the adjustment of this teaching method Be robot 2 axis and 3 axis, specific method of adjustment is as follows:

If 2 axis, the real-time adjustment amount of 3 axis is respectively △ b2、△b3, influencing the amount that track adjusts has θTi、Tθ、△d2i、△d3i、 θ constructs 2 axis, 3 axial adjustment functions by this tittle

During the adjustment, it is understood that there may be the case where multiple adjustment regions are overlapped, it is contemplated that such case present invention is with changing The method in generation carries out track adjustment.Adjustment process is as follows:

(1) first adjustment point θ is takenTl, initialize Δ b2=0, Δ b3=0;

(2) corresponding adjustment offset T θ is taken by adjustment point, that is, determines the range (θ of adjustmentTQ, θTZ);

(3) judge current interpolation angle, θ, if in the range (θ of adjustmentTQ, θTZ) in;

(4) when θ is in the range of adjustment, i.e. θ ∈ (θTQ, θTZ), then

When θ is not in the range of adjustment, i.e.,Then enable

(5) next adjustment point θ is takenTi, (2) are returned to, until having traversed all adjustment points.

In robot Interpolation Process, each interpolated point, i.e. soldering angle θ will run adjustment process above, and By the amount Δ b of adjustment2、Δb3It is added separately in the amount of exercise of 2 axis and 3 axis.

25, according to above-mentioned 24 the method, teaching information is recorded and stored, and is adjusted and is calculated according to teaching information design track Method both saves in this way to generate actual continuous line welding track in real time according to the intersection multi-pass welding track after planning Robot, the province working time saves the artificial teaching time, guarantees that track is correct.

Welding method shown in the embodiment of the present invention is completed by robot automatic welding equipment, the robot automatic welding Connecing equipment includes robot welding system, robot movement-control system, and robot trajectory planning's system passes through three system phases Mutually cooperation, completes the automatic welding of the multi-pass welding of big component groove.

Realize the real-time of multi-pass welding trajectory planning, it is adaptable.Pass through the filling Strategy stitched to multi-pass welding It is planned with track, realizes and real-time planning and adjusting is carried out to the track of multi-pass welding.It can be realized real in the welding process When adjust the sectional area of speed of welding and welding bead, improve the adaptability of the multi-pass welding of big component groove welding.

The method of the present invention is easy to operate, and speed of welding is fast.Method of the invention realizes that welding gun when switching welding bead, carries out band Arc switching is operated without the arc arc extinguishing that opens of progress repeatedly, easy to operate, can be real during the multi-layer multi-pass welding of entire groove Now continuous equidirectional welding, speed of welding are fast.

Teaching method of the present invention is simple, and teaching efficiency is high.In order to improve the quality and accuracy of welding, method of the invention It needs to carry out teaching to ideal intersection track, this teaching method only uses first of welding bead of teaching first layer, and by teaching tune Whole parameter is applied in each welding bead, therefore can satisfy a teaching, the purpose of multilayer multiple tracks track adjustment, teaching letter It is single, it is high-efficient.

The adjustment range is small for the method for the present invention robot, and programming is convenient.Generally during the welding process, the section of same welding bead Product is almost constant, is greater than upper layer welding bead sectional area according to the welding bead sectional area of welding process requirement backing welding, so not It is unequal with the sectional area between welding bead.The planing method of welding bead of the present invention guarantees except current layer is last in groove Outside one of welding bead, the height of remaining welding bead is equal to layer height, sets weld width further according to the sectional area of per pass welding bead, both protects in this way The consistency of weldquality has been demonstrate,proved, has also been brought convenience to robot motion's trajectory planning and motion control, automation weldering is conducive to Termination process.

Claims (3)

1. a kind of real-time planing method of intersection multi-pass welding seam track, which is characterized in that specifically comprise the following steps:
1) height of current layer is determined according to the welding parameter of welding bead the ratio of width to height of setting and welding bead, then by layer height and the layer The width of lower edge calculates the total sectional area of this layer of welding bead on welding bead, and further according to this layer of unwelded sectional area and welding in real time is joined Number calculates the layer unwelded road number in real time, the width and height of next welding bead is planned according to remaining number of weld passes, for same layer Welding bead in addition to the height of last one of welding bead is different, the height of remaining welding bead is that the layer of this layer is high, is filled out according to remaining Region is filled, the width and height to this layer of last one of welding bead are adjusted;
2) after completing the planning welding of welding bead, will the starting point to welding bead carry out being overlapped overlap joint with end point, then put down Cunning is transitioned into down one of welding bead, that is, completes adjacent welding bead and smoothly switch;
3) when the remaining number of weld passes of this layer is equal to 0, illustrate that this layer of pass weld finishes, according to step 1) and 2) same mode, It is sequentially completed multi-layer welding process upwards along groove depth direction, until groove is filled and led up and weld beyond groove depth three/ Until one height;
4) coordinate according to corresponding to welding bead central point fits the intersection track of per pass welding bead;
5) the intersection track of welding bead is obtained by above-mentioned planning, allows Robot planned trajectory to run one week, the process of operation In occur deviation place pause, robotic gun end is adjusted to actual intersection, adjustment point at this time is write down And adjustment point parameter, and the times N that operation adjusts altogether after a week is recorded, and after elected integral point of setting the tone, setting adjustment transition region Domain is adjusted on actual intersection using Serial regulation mode.
2. the real-time planing method of intersection multi-pass welding seam track according to claim 1, which is characterized in that the step It is rapid 2) after completing the planning welding of welding bead, will the starting point to welding bead carry out being overlapped overlap joint with end point, that is, need after One section of overlapping regions of continuous welding, make the starting point of welding bead and end point have it is certain be overlapped, welding bead is carried out after overlapping regions Switching, in order to make welding process it is smooth, increase smooth transition region between welding bead, into smooth transition region before original weld The overlapping regions that soldering angle range on road is ε enters back into the transitional region that soldering angle range is ε ', transitional region welding The corresponding supervisor's radius in track is R', and corresponding branch pipe radius is r';R' is from the corresponding supervisor's radius in (i-1)-th layer of welding bead track Ri-1Gradually it is transitioned into the corresponding supervisor's radius R in i-th layer of welding bead tracki, i.e., R' is from the corresponding branch pipe radius r in i-th layer of -1 road welding bead track of jthi(j-1)It is corresponding to be gradually transitioned into the i-th road Cengj welding bead track Branch pipe radius rij, i.e.,
The unspecified angle θ that the starting point of welding is first of first layer0, soldering angle at this time is θ=θ0, welded at first In the process, soldering angle θ is from θ0To 2 π, then again from 0 to θ0+ ε switches to second, i.e. second subsequently into transitional region Starting point be θ0+ ε+ε ', and so on, the starting point in kth road is (k-1) (ε+ε ')+θ0, the handoff angle of the road Jik welding bead Calculating formula is θ=(k-1) (ε+ε ')+θ0
3. the real-time planing method of intersection multi-pass welding seam track according to claim 1, which is characterized in that the step Rapid 4) the coordinate according to corresponding to welding bead central point fits the intersection track of per pass welding bead, i.e., establishes to two pipes of welding Main, branch pipe coordinate, if supervisor's outer radius is R, branch pipe outer radius is r, and for supervisor with a thickness of M, e is inclined with branch pipe central axis to be responsible for Distance is set, α is the angle of two tube hub axis, establishes main, branch pipe coordinate system xmymzm、xbybzb, the z-axis of Two coordinate system is along each From the central axis of pipeline, ym、ybAxis is conllinear, omAnd obThe origin of respectively two coordinate systems, obIn xmymzmSeat in coordinate system It is designated as (0, e, 0);According to the cylinder equation of two traffic controls, branch pipe coordinate system { o is establishedbSupervisor coordinate system { o relativelymTransformation square Battle array, by transformation matrix, obtains { om, { obTwo coordinate systems positional relationship, respectively obtain in { om},{obPhase under coordinate system Transversal equation.
CN201710550913.4A 2017-07-07 2017-07-07 The real-time planing method of intersection multi-pass welding seam track CN107378201B (en)

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